Abstract
This paper offers a simple controller structure and identification algorithm for a complex tracked mobile robot. The experimental results show that the cross-coupling control is very effective in reducing the internal errors due to the different parameters in each motor. The adaptive controller is effective in reducing the systematic external errors such as different effective wheel diameters. The hybrid motion control which combines the cross-coupling control with the adaptive control was shown to be effective in compensating both for the internal errors and external errors. (A)